Decision-Making by the Autonomous Symbiotic Self-Relocating Massage Robot “Triangel” Based on SEMS After the Fall of Patient on Surface

Abstract

Problem statement: in this article the essence of the symbiotic robot “Triangel” based on SEMS which comprises in its mechanical union with the patient’s body and with a single coordinate system, is shown. As a result, the symbiotic robot “Triangel” is able to perform massage manipulations of the patient’s back or chest not only in the passive position of the body, but also on the moving body, regardless of its spatial orientation. Also the patient can simultaneously massage its chest and back by two symbiotic robots “Triangel”. The symbiotic robot “Triangel” can function both autonomously and under the remote supervision of a massage therapist via the Internet. However, when moving the patient during the massage with the help of a symbiotic robot “Triangel”, he may fall, for example, tripping, slipping or as a result of loss of consciousness. Purpose of research: development of algorithms for decision-making by the symbiotic robot “Triangel” after a patient falls to the surface. Results: possible types of patient falling to the surface and their classification are shown. The decision-making model axiomatics and the algorithms developed on its basis for decision-making by single or two symbiotic robots “Triangel” installed simultaneously on the patient’s chest and back are presented. The decision-making algorithms are formed depending on the patient’s condition, for example in the following cases: the patient is conscious and does not need help; the patient is conscious and needs help; the patient is unconscious; the patient has died. Practical significance: decisions-making by the symbiotic robot “Triangel” both autonomously and under the remote control of the massage therapist in real time via the Internet will reduce the risk of a threat to the patient’s health or life after falling to the surface during the massage.